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Stock-Based Compensation - Assumptions used to Estimate the Fair Value of Stock Options Granted (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Stock Options Granted        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years) 5 years 11 months 1 day 6 years 10 days 6 years 6 years 10 days
Expected volatility 104.00% 117.00% 105.00% 115.00%
Risk-free interest 4.35% 3.98% 4.01% 3.99%
Dividend yield 0.00% 0.00% 0.00% 0.00%
2016 ESPP        
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]        
Expected term (in years)     6 months 5 months 26 days
Expected volatility     98.00% 181.00%
Risk-free interest     5.31% 4.99%
Dividend yield     0.00% 0.00%